Robust adaptive finite‐time trajectory tracking control of a quadrotor aircraft
Di Wu, Weijian Zhang, Haibo Du, Xiangyu Wang
Abstract
Abstract This article mainly investigates the problem of tracking the flight trajectory for a quadrotor aircraft with uncertain parameters and external disturbances. Combined with the model structure, the quadrotor aircraft system can be divided into position system and attitude system. Firstly, for the position system with unknown parameters, some adaptive finite‐time position tracking controllers are designed based on the homogeneous system theory and finite‐time parameter estimators. For the attitude system, the uncertain parameters and external disturbances are regarded as lumped disturbances. Based on the homogeneous system theory and sliding‐mode observers, some adaptive finite‐time attitude controllers are proposed. Finally, some numerical simulation results are given to verify the control performance of the proposed control scheme.